JP7362776B2 - Parts supply equipment and parts conveyance system - Google Patents

Description

The present disclosure relates to a parts transport system including a transport device such as a transport robot that picks and transports parts, and a parts supply device that supplies parts to the transport device, which is a component of the system.

For example, devices such as parts feeders are known that arrange parts in the same orientation (posture) so that a transport device such as a transport robot can pick the parts appropriately. For example, in the case of the device described in Patent Document 1, each of the plurality of components is conveyed onto the mounting surface of the stage, and a portion of the components engages with a plurality of straight grooves formed on the mounting surface. The orientation is aligned.

Utility Model Publication No. 5-56828

However, in the case of the device described in Patent Document 1, if the parts have a cylindrical shape with a bottom, for example, there is a possibility that a plurality of parts whose opening directions differ by 180 degrees may coexist on the mounting surface of the stage. be. Therefore, a transport device such as a transport robot that picks the parts may not be able to pick the parts in the correct orientation.

Therefore, an object of the present disclosure is to more reliably pick parts in the correct orientation.

In order to solve the above technical problem, according to one aspect of the present disclosure,
a stage having a mounting surface on which a plurality of parts are mounted;
an imaging system that images the component from diagonally above the mounting surface of the stage;
a component detection unit that detects the position and orientation of the component on the mounting surface of the stage based on image information obtained by the imaging system;
A component supply device is provided.

Also, according to another aspect of the present disclosure,
A parts supply device according to one aspect of the present disclosure,
A transport device that picks and transports parts,
A parts conveyance system is provided.

According to the present disclosure, parts can be picked in the correct orientation more reliably.

A schematic side view of a parts conveyance system according to an embodiment of the present disclosure Schematic top view of the parts transport system Block diagram showing the configuration of the parts transport system A perspective view of an example of parts handled by the parts transport system Perspective view showing line light illuminated on the stage A diagram showing a plurality of line lights on a part of the mounting surface of the stage, imaged by a line light imaging device. A perspective view of a portion of the mounting surface of the stage irradiated with multiple line lights shown in FIG. Diagram showing the relationship between the rotation angle of the servo motor and the position of the moving head Diagram showing an example of the flow of parts transport operation in the parts transport system

A component supply device according to an aspect of the present disclosure includes: a stage having a mounting surface on which a plurality of components are mounted; an imaging system that images the component from diagonally above the mounting surface of the stage; The apparatus further includes a component detection section that detects the position and orientation of the component on the mounting surface of the stage based on image information obtained by the imaging system.

According to this aspect, parts can be picked in the correct orientation more reliably.

For example, the component supply device may be configured such that the imaging system is connected to a line extending in a direction intersecting the diagonally upward direction at a first angle that is acute to the stage side and to the mounting surface of the stage. a line light irradiation device that irradiates light; and a line light imaging device that images the line light on the mounting surface of the stage at a second angle that is an acute angle with respect to the mounting surface of the stage and on the stage side. , the image information includes scanning the line light emitted by the line light irradiation device with respect to the mounting surface, imaging each of the plurality of line lights resulting from this scanning by the line light imaging device, and capturing the image. Preferably, the height distribution on the mounting surface of the stage is calculated based on the shape of each of the plurality of line lights.

For example, the component supply device further includes a moving head, the imaging system is mounted on the moving head, and the moving head is configured to move the moving head relative to and parallel to the mounting surface of the stage. It is preferable that the line light moves in a direction that intersects with the direction in which the line light extends.

For example, it is preferable that the component supply device further includes a storage unit that stores component shape data indicating a three-dimensional shape of the component. In this case, it is preferable that the component detection section detects the position and orientation of the component on the placement surface based on the height distribution and the component shape data.

For example, the component supply device calculates the area of a region within the mounting surface of the stage where the component is present based on the height distribution and the shape information of the component, and combines the calculated area with the area of the component. Preferably, the device further includes a parts number estimating unit that estimates the number of parts on the placement surface based on the size.

For example, it is preferable that the component supply device further includes a stage swinging device that swings the stage.

For example, it is preferable that the component has a cylindrical shape with a bottom.

For example, it is preferable that the mounting surface of the stage includes a plurality of grooves extending in the moving direction of the moving head and engaging with a portion of the outer peripheral surface of the component.

For example, it is preferable that the component supply device further includes a moving head drive device that causes the moving head to linearly approach or move away from the stage. Further, the moving head driving device includes a servo motor, a first link arm having one end connected to the servo motor, one end being connected to the other end of the first link arm, and the other end being connected to the first link arm. and a second link arm connected to the moving head.

For example, the line light imaging device may cause the moving head to move by a certain amount based on a rotation angle of the servo motor and a nonlinear relationship between the rotation angle and the position of the moving head determined in advance. Preferably, the device is configured to image the line light every time it moves.

A parts transport system according to another aspect of the present disclosure includes the parts supply device and a transport device that picks and transports parts.

According to this aspect, parts can be picked in the correct orientation more reliably.

Embodiments of the present disclosure will be described below with reference to the drawings.

FIG. 1 is a schematic side view of a parts conveyance system according to an embodiment of the present disclosure. Moreover, FIG. 2 is a schematic top view of the parts conveyance system. Furthermore, FIG. 3 is a block diagram showing the configuration of the parts transport system. Note that the XYZ coordinate system shown in the drawings is for facilitating understanding of the present disclosure, and does not limit the embodiments of the present disclosure. In this XYZ coordinate system, the X-axis direction and the Y-axis direction indicate the horizontal direction, and the Z-axis direction indicates the vertical direction.

As shown in FIGS. 1 and 2, a component transport system 10 according to the present embodiment is a system for transporting parts P, and is a system for transporting parts P within a clean room CR.

FIG. 4 is a perspective view of an example of parts handled by the parts transport system.

As shown in FIG. 4, in the case of this embodiment, the component transport system 10 handles a cylindrical component P with a bottom. Specifically, the component P has a cylindrical shape with a length L and an outer diameter φ, and includes a first end surface Pa and a second end surface Pb. An opening Pc is formed in the first end surface Pa. On the other hand, no opening is formed in the second end surface Pb.

As shown in FIGS. 1 and 2, in the case of the present embodiment, the parts transport system 10 includes a transport robot 20 as a transport device that picks and transports parts P, and supplies the parts P to the transport robot 20. A parts supply device 30 is included.

The transport robot 20 of the parts transport system 10 picks the part P, transports it to a predetermined location (not shown), and places the part P in a predetermined orientation (for example, with the opening Pc facing downward) at the predetermined location. It is an articulated robot. The transfer robot 20 also includes an end effector 22 for holding the component P. The end effector 14 is configured to suck and hold the component P, for example. In the case of this embodiment, the transfer robot 20 is a clean environment transfer robot suitable for use in a clean room CR.

The component supply device 30 of the component transportation system 10 is a device for supplying the components P to the transportation robot 20, and is particularly configured to supply the components P so that the transportation robot 20 can pick them.

For example, specifically, the component supply device 30 includes a stage 32 having a mounting surface 32a on which a plurality of components P are mounted, and a component P on the mounting surface 32a of the stage 32 from an obliquely upward direction. The apparatus includes an imaging system that captures an image, and a component detection section that detects the position and orientation of the component P on the mounting surface 32a of the stage 32 based on the image information obtained by the imaging system. More specifically, the component supply device 30 includes a stage 32 on which a plurality of components P are placed, and a moving head 34 that moves relative to the stage 32. The imaging system includes a line light irradiation device 36 mounted on a moving head 34 that irradiates the stage 32 with line light, and a line light imaging device 38 that images the line light on the stage 32.

The stage 32 includes a mounting surface 32a that is expanded horizontally (parallel to the X-axis direction and the Y-axis direction) and on which a plurality of parts P are mounted. The transport robot 20 picks the parts P on this placement surface 32a. The parts P are carried into the clean room CR from outside through the carrying device 40 and placed on the mounting surface 32a of the stage 32. At this time, the plurality of parts P are placed at random positions and orientations (postures).

Further, in the case of the present embodiment, the mounting surface 32a of the stage 32 includes a horizontal surface portion 32b and a plurality of holes formed on the horizontal surface portion 32b so as to extend in the moving direction (X-axis direction) of the moving head 34. It is composed of a groove 32c. The groove 32c has a cross-sectional shape that engages with a portion of the outer peripheral surface of the part P in a state where the transport robot 20 can pick it. In the case of this embodiment, approximately half of the component P engages with the groove 32c, and the remaining portion protrudes from the horizontal surface portion 32b. Furthermore, in the case of the present embodiment, the component supply device 30 includes a stage swing device 42 such as an actuator that swings the stage 32 to change the positions and orientations of the plurality of components P on the mounting surface 32a. I'm here. The roles of these grooves 32c and the stage swing device 42 will be described later.

The moving head 34 of the component supply device 30 is a moving body that mounts a line light irradiation device 36 and a line light imaging device 38 for detecting the position and orientation of the component P on the mounting surface 32a of the stage 32.

Specifically, the moving head 34 moves relative to and parallel to the mounting surface 32a of the stage 32 (in the X-axis direction). In the case of this embodiment, the moving head 34 approaches or moves away from the stage 32, which does not move in the horizontal direction. Further, when the movable head 34 is in the close state, a portion thereof is located above the mounting surface 32a of the stage 32. Furthermore, the moving head 34 is driven by a moving head drive device 44.

As shown in FIGS. 1 and 2, in the case of the present embodiment, the moving head drive device 44 includes a servo motor 46, a first link arm 48 whose one end is connected to the servo motor 46, and a first link It includes a second link arm 50 whose one end is connected to the other end of the arm 48 and whose other end is connected to the moving head 34.

The servo motor 46 includes a timing pulley 52, and rotates the timing pulley 52 around a rotation center line C1 extending in the vertical direction (Z-axis direction). A drive shaft 54 extending vertically is attached to one end of the first link arm 48 . A timing pulley 56 is provided on the drive shaft 54. This timing pulley 56 is drivingly connected to a timing pulley 52 of the servo motor 46 via a timing belt 58. Due to this drive connection, the drive shaft 54 is rotated about a rotation center line C2 extending in the vertical direction.

One end of the second link arm 50 is rotatably connected to the other end of the first link arm 48 about a rotation center line C3 extending in the vertical direction (Z-axis direction). . Further, the other end of the second link arm 50 is rotatably connected to the moving head 34 about a rotation center line C4 extending in the vertical direction.

Note that the servo motor 46, timing pulleys 52, 56, and timing belt 58 are arranged outside the clean room CR, and the drive shaft 54 extends from the inside of the clean room CR to the outside.

According to such a moving head drive device 44, the servo motor 46 rotates the drive shaft 54 via the timing pulleys 52, 56 and the timing belt 58, so that the first and second link arms 48, 50 are rotated. The moving head 34 is driven. According to such a drive connection, the moving head 34 can approach or move away from the stage 32 by rotating the servo motor 46 in the normal or reverse direction.

Note that a guide device 60 is provided so that the moving head 34 driven by the moving head drive device 44 (its servo motor 46) moves linearly toward or away from the stage 32. The guide device 60 includes a rail 62 extending in the horizontal direction (X-axis direction) and a guide block 64 that engages with the rail 62 and moves in the direction in which the rail 62 extends. By attaching this guide block 64 to the moving head 34, the moving head 34 moves linearly.

According to the moving head driving device 44 having such a configuration, a plurality of cables (power cable, signal cable, etc.) connecting to the line light irradiation device 36 and the line light imaging device 38 mounted on the moving head 34 are connected to the first It can also be drawn out of the clean room CR by passing through the second link arms 48, 50 and the drive shaft 54.

A line light irradiation device 36 mounted on the moving head 34 irradiates the stage 32 with line light.

FIG. 5 is a perspective view showing the line light LL irradiated onto the stage. Note that in FIG. 5, the stage 32 is shown schematically.

As shown in FIG. 5, the line light irradiation device 36 is configured to irradiate the mounting surface 32a of the stage 32 with the line light LL. For example, the line light irradiation device 36 is a laser device provided with a slit-shaped emission opening.

Specifically, the line light irradiation device 36 is directed toward the imaging direction of the imaging system (diagonally upward with respect to the component P on the mounting surface 32a of the stage 32), that is, in the case of this embodiment, the moving head 34. Line light LL extending in a direction (Y-axis direction) intersecting the moving direction (X-axis direction) is irradiated. The length (size in the Y-axis direction) of the line light LL substantially matches the width W of the mounting surface 32a of the stage 32.

Further, as shown in FIG. 1, the line light irradiation device 36 emits the line light LL on the stage 32 side with respect to the moving head 34 and at a first angle α that is acute with respect to the mounting surface 32a of the stage 32. irradiate. The first angle α is, for example, 60 degrees.

By moving the moving head 34 with respect to the mounting surface 32a of the stage 32, specifically, in the direction (X-axis direction) intersecting the direction in which the line light LL extends (Y-axis direction). By moving, the line light LL moves, that is, scans, on the mounting surface 32a of the stage 32. The movable head 34 and the mounting surface 32a of the stage 32 may move relative to each other, and the mounting surface 32a of the stage 32 may move relative to the movable head 34.

A line light imaging device 38 mounted on the moving head 34 images the line light LL on the mounting surface 32a of the stage 32.

FIG. 6 is a diagram showing a plurality of line lights LL on a part of the mounting surface of the stage, which are imaged by the line light imaging device. Note that FIG. 6 shows a plurality of line lights LL that are imaged at different timings. Moreover, FIG. 7 is a perspective view of a part of the mounting surface of the stage irradiated with the plurality of line lights LL shown in FIG.

The line light imaging device 38 is, for example, a camera, and images the line light LL on the mounting surface 32a of the stage 32 every time the moving head 34 moves a predetermined distance. That is, the reflected light of the line light LL enters the light receiving surface of the image sensor of the line light imaging device 38.

Further, as shown in FIG. 5, the line light imaging device 38 is positioned on the stage 32 side with respect to the movable head 34 and at a second angle β that is an acute angle with respect to the mounting surface 32a of the stage 32. The upper line light LL is imaged. That is, the optical axis OA of the line light imaging device 38 intersects the stage 32 at the second angle β. The second angle β is 45 degrees. Note that the second angle β is preferably an angle close to the first angle α, and may be equal to the first angle α.

As shown in FIGS. 6 and 7, the shape of the line light LL imaged by the line light imaging device 38 is the shape of the part of the object (the mounting surface 32a of the stage 32 or the component P) that is irradiated with the line light LL. Corresponds to surface shape. That is, the shape of the line light LL represents the height distribution of the part of the object irradiated with the line light LL. For example, it represents the distribution of heights with the bottom of the groove 32c as a reference (Z=0). Therefore, the height distribution over the entire mounting surface 32a of the stage 32 can be obtained from the shape of each of the plurality of line lights LL imaged by the line light imaging device 38 while the moving head 34 is moving.

As shown in FIG. 3, the component transport system 10 includes a control device 70.

The control device 70 is configured to control the moving head drive device 44, the line light irradiation device 36, the line light imaging device 38, and the stage swing device 42, and supply the parts P that can be picked by the transport robot 20. There is. For this purpose, the control device 70 is configured to detect the positions and orientations of the plurality of parts P placed on the placement surface 32a of the stage 32.

Specifically, the control device 70 includes a moving head control section 72 that controls the moving head drive device 44, an irradiation device control section 74 that controls the line light irradiation device 36, and an imaging device that controls the line light imaging device 38. A control unit 76, a stage control unit 78 that controls the stage swing device 42, a height distribution calculation unit 80 that calculates the height distribution on the entire mounting surface 32a of the stage 32, and a a component detection section 82 that detects the position and orientation of the component P on the placement surface 32a of the stage 32; a transportation component determination section 84 that determines the component to be picked and transported by the transportation robot 20; It includes a parts number estimating section 86 that estimates the number of parts P, and a storage section 88 such as a hard disk.

The control device 70 includes, for example, a CPU and a storage device such as a memory or a hard disk. By operating according to the program stored in the storage device (storage unit 88), the CPU controls the moving head control unit 72, the irradiation device control unit 74, the imaging device control unit 76, the stage control unit 78, and the height distribution calculation. It functions as a part 80, a parts detection part 82, a transported parts determination part 84, and a parts number estimation part 86.

The moving head control unit 72 controls the moving head driving device 44 to move the moving head 34 in order to detect the positions and orientations of the plurality of parts P placed on the mounting surface 32a of the stage 32. To this end, the moving head control unit 72 controls the moving speed and position of the moving head 34 by controlling the servo motor 46 of the moving head drive device 44. Specifically, the rotation angle θ of the servo motor 46 is controlled based on a signal from an encoder mounted on the servo motor 46. By controlling this rotation angle θ, the moving speed and position of the moving head 34 are controlled.

In the case of the present embodiment, as shown in FIGS. 1 and 2, the servo motor 46 is connected to the moving head 34 via a link mechanism consisting of a first link arm 48 and a second link arm 50. Drive connected. Therefore, the rotation angle θ of the servo motor 46 and the position of the moving head 34 do not have a linear relationship.

FIG. 8 is a diagram showing the relationship between the rotation angle of the servo motor and the position of the moving head.

As shown in FIG. 8, with respect to a change in the rotation angle θ of the servo motor 46, the position Hx (position in the X-axis direction) of the moving head 34 does not change linearly, but changes nonlinearly. Note that when the movable head 34 is located at the standby position farthest from the stage 32 (the position indicated by the solid line in FIGS. 1 and 2), the position Hx and the rotation angle θ are zero. Therefore, the moving head control unit 72 controls the moving speed and position of the moving head 34 based on the rotation angle θ obtained from the encoder of the servo motor 46 and the predetermined nonlinear relationship shown in FIG. 8.

The irradiation device control unit 74 in the control device 70 activates the line light irradiation device 36 when detecting the positions and orientations of the plurality of parts P placed on the placement surface 32a of the stage 32. Thereby, the line light irradiation device 36 continues to irradiate the line light LL. As a result, while the moving head 34 is moving, the line light LL moves on the mounting surface 32a of the stage 32. When the detection of the position and orientation of the component P is completed, the irradiation device control unit 74 stops the line light irradiation device 36 (the irradiation of the line light LL is stopped).

The imaging device control unit 76 in the control device 70 controls the line light imaging device 38 to transmit the line light LL on the stage 32 to the line light imaging device 38 every time the moving head 34 moves by a certain amount of movement. Take an image. The timing at which the moving head 34 moves by a constant movement amount is between the rotation angle θ of the servo motor 46 and the predetermined rotation angle θ of the servo motor 46 and the position Hx of the moving head 34 as shown in FIG. can be obtained based on the nonlinear relationship of More specifically, for example, the control device 70 takes in encoder pulse information from the link-driven servo motor 46, and calculates the drive shaft rotation amount of the link mechanism section and the horizontal movement of the line optical imaging device 38 held in the storage section 88. The imaging trigger whose timing has been corrected based on the amount conversion table is output to the line light imaging device 38. The control device 70 acquires scan data (that is, a plurality of line light image data) captured according to the imaging trigger from the line light imaging device 38 . As a result, as shown in FIG. The line light LL can be imaged.

The stage control unit 78 in the control device 70 controls the stage swing device 42 shown in FIG. 1 to swing the stage 32 at a predetermined timing. Thereby, the positions and orientations of the plurality of parts P on the mounting surface 32a of the stage 32 are changed. In the case of this embodiment, due to the swinging of the stage 32, some parts P partially engage with the grooves 32c of the mounting surface 32a. As a result, the openings Pc of some of the parts P are directed towards the moving head 34 or in the opposite direction.

The predetermined timing at which the stage control unit 78 swings the stage 32 via the stage swing device 42 is, for example, when the loading device 40 shown in FIGS. This is the timing when the was brought in (placed). By swinging the stage 32 at this timing, the plurality of parts P carried in via the carry-in device 40 and stacked on the mounting surface 32a are leveled over the entire mounting surface 32a. Note that another predetermined timing will be described later.

As shown in FIG. 6, the height distribution calculation unit 80 in the control device 70 calculates the height distribution on the mounting surface 32a of the stage 32 based on the shapes of the plurality of line lights LL imaged by the line light imaging device 38. Calculate. For example, the height distribution is calculated using the bottom of the groove 32c of the mounting surface 32a as a reference (Z=0).

The component detection section 82 in the control device 70 detects the position and orientation of the component P on the mounting surface 32a of the stage 32 based on the height distribution calculated by the distribution calculation section 80.

Specifically, in the case of this embodiment, information regarding the outer diameter φ and length L of the component P is stored in the storage unit 88 in advance. The position of the part P is detected based on the size information and height distribution. For example, as shown in FIG. 6, the height of a point S1 on the portion LLa of the line light LL irradiated onto the outer peripheral surface of the component P substantially matches the outer diameter φ of the component P. The area of the height distribution where this height is distributed on a straight line with substantially the same length as the length L of the part P (the area within the corresponding mounting surface 32a of the stage 32) is detected as the position of the part P. be done. In the case of this embodiment, since the height reference is the bottom of the groove 32c, the component P that engages with the groove 32c is detected.

Further, in the case of the present embodiment, information regarding the wall thickness of the component P (distance between the outer circumferential surface and the inner circumferential surface) is stored in the storage section 88 in advance. The orientation of the component P is detected based on this wall thickness information and height distribution. For example, as shown in FIG. 6, the height of the point S2 on the portion LLb of the line light LL irradiated onto the inner circumferential surface Pd of the part P is zero at the bottom of the groove 32c, so substantially corresponds to the thickness. Based on this height distribution, the orientation of the component P is detected, that is, the orientation of the opening Pc is detected.

To detect the direction of the opening Pc, as described above and as shown in FIG. This is achieved by doing. That is, this is realized by irradiating the inner peripheral surface of the component P with the line light LL. Furthermore, this is achieved by the line light imaging device 38 imaging at a second acute angle β with respect to the mounting surface 32a of the stage 32. That is, this is realized by capturing an image of the inner circumferential surface of the component P.

Note that in order to detect the position and orientation of the component P with high accuracy based on the height distribution, the component detection unit 82 uses component shape data 90 indicating the three-dimensional shape of the component P, such as 3D-CAD data or point cloud. Data may also be used. The height distribution indicates the surface shape of the object on the mounting surface 32a of the stage 32. If a portion of the surface shape substantially matches the surface shape on the 3D-CAD data or a plurality of points in the point cloud data, it can be determined with high accuracy that the portion is the surface of the part P. As a result, the position and orientation of the component P can be detected with high accuracy. In this case, the part shape data 90 of the part P is stored in the storage section 88.

The transport parts determining unit 84 in the control device 70 determines the target part P to be transported by the transport robot 20 from among the plurality of parts P whose positions and orientations have been detected by the component detecting unit 84.

Specifically, when a plurality of parts P are in contact or overlap, there is a possibility that the transport robot 20 cannot pick such parts P. Therefore, in the case of the present embodiment, the transport component determining unit 84 selects a component P that can be picked by the end effector 22 of the transport robot 20 in the same posture, that is, a component P on the groove 32c of the mounting surface 32a of the stage 32. , is determined as the part to be transported. Information regarding the determined position and orientation of the part P is then transmitted to the transport robot 20. Thereby, the transport robot 20 can pick the parts P in the correct orientation.

Note that if the transport robot 20 is configured to determine which parts P can be picked based on the information on the position and orientation of each of the plurality of parts P, the transport parts determination unit 84 and the stage 32 It is possible to omit the groove 32c.

The number of parts estimation unit 86 of the control device 70 estimates the number of parts P on the mounting surface 32a of the stage 32.

In the case of this embodiment, the carrying-in device 40 places an arbitrary number of parts P on the mounting surface 32a of the stage 32. For this purpose, the number of parts estimating unit 86 estimates the number of parts P on the mounting surface 32a. Specifically, the number of parts estimation unit 86 estimates the number of parts P based on the height distribution calculated by the height distribution calculation unit 80.

First, the parts number estimating unit 86 calculates the area of the region within the mounting surface 32a of the stage 32 where the part P exists, based on the height distribution and the shape information of the part P. In the case of this embodiment, since the part P is cylindrical, the height within the mounting surface 32a of the stage 32 is distributed, which is larger than the half of the outer diameter φ or the length L, which is part of the shape information. Identify the area and calculate its area. Note that in the case of this embodiment, since the mounting surface 32a is provided with a plurality of grooves 32c that engage with half of the component P, the area is higher than the height of the horizontal surface portion 32b of the mounting surface 32a. The area of is calculated. Next, the parts number estimating unit 86 calculates the number of parts P based on the calculated area and the size of the parts P. For example, by dividing the calculated area by the average cross-sectional area of the parts P, the approximate number of parts P can be calculated.

Information on the number of parts P estimated by the parts number estimating section 86 is used for various purposes.

For example, before the transport robot 20 starts transporting the plurality of parts P on the stage 32, the number of parts P is estimated by the parts number estimation unit 86. Based on the estimated number of parts P and the number of parts P transported by the transport robot 20, the number of parts P remaining on the stage 32 can be confirmed.

For example, when the number of parts P remaining on this stage 32 becomes less than or equal to a predetermined number, a plurality of new parts P are placed on the mounting surface 32a of the stage 32. This allows the transport robot 20 to continue transporting parts at a high operating rate. Further, for example, if the conveyed parts determining unit 84 is unable to determine the parts P to be conveyed even though the number of parts P remaining on the stage 32 is sufficiently large, the stage control unit 78 causes the stage 32 to swing. be done. As a result, the position and orientation of the part P remaining on the stage 32 are changed so that the transport robot 20 can pick it.

From here on, the flow of the component transportation operation in the component transportation system 10 will be explained.

FIG. 9 is a diagram illustrating an example of the flow of a component transportation operation in the component transportation system.

As shown in FIG. 9, first, in step S100, a plurality of parts P are carried in (arranged) on the mounting surface 32a of the stage 32 by the carrying-in device 40, as shown in FIGS. 1 and 2.

Next, in step S110, the stage control unit 78 of the control device 70 swings the stage 32 via the stage swing device 42. As a result, the plurality of parts P arranged and stacked in step S100 are leveled over the entire mounting surface 32a of the stage 32.

Subsequently, in step S120, the moving head control section 72 of the control device 70 moves the moving head 34 via the moving head driving device 44. Along with the movement of the moving head 34, the irradiation device control section 74 causes the line light irradiation device 36 to irradiate the mounting surface 32a of the stage 32 with the line light LL, and the imaging device control section 76 causes the line light imaging device 38 to irradiate the stage 32 with the line light LL. The line light LL on the mounting surface 32a is imaged.

In step S130, the height distribution calculation unit 80 of the control device 70 determines the height on the mounting surface 32a of the stage 32 based on the shape of each of the plurality of line lights LL imaged by the line light imaging device 38 in step S120. Calculate the distribution.

In step S140, the number of parts estimation unit 86 of the control device 70 estimates the number of parts P on the mounting surface 32a of the stage 32 based on the height distribution calculated in step S130.

In step S150, the component detection unit 82 of the control device 70 detects the position and orientation of the component P on the mounting surface 32a of the stage 32 based on the height distribution calculated in step 130.

In step S160, the transport component determination unit 84 of the control device 70 determines the transport target part P to be transported by the transport robot 20 from among the plurality of parts P whose positions and orientations were detected in step S150.

In step S170, the transport robot 20 picks the part P determined as the transport target in step S160 and transports it to a predetermined location.

In step S180, after the transport robot 20 transports the parts P in step S170, it is determined whether the number of parts P remaining on the stage 32 is greater than or equal to a predetermined number. If the number of parts P remaining on the stage 32 is greater than or equal to the predetermined number, the process advances to step S190. If not, the process returns to step S100.

In step S190, it is determined whether there is a part P to be transported among the parts P remaining on the stage 32. If the part P to be transported is present on the stage 32, the process advances to step S200. If not, the process returns to step S110.

In step S200, it is determined whether there is an instruction to end the transportation of the part P. If there is an instruction to end the transport, the parts transport ends. If not, the process returns to step S170.

As described above, according to the present embodiment, parts can be picked in the correct orientation during part transportation in which parts are picked and transported.

Although the present disclosure has been described above with reference to the above embodiments, the embodiments of the present disclosure are not limited to these.

For example, in the embodiment described above, the line light LL irradiated by the line light irradiation device 36 is scanned with respect to the mounting surface 32a, and each of the plurality of line lights LL resulting from this scanning is imaged by the line light imaging device 38. , the height distribution on the mounting surface 32a of the stage 32 is calculated based on the shape of each of the plurality of imaged line lights LL. As one means for this purpose, a stage 32 on which a plurality of parts P are placed, a moving head 34 that moves relative to the stage 32, a line light irradiation device 36 and a line light Although a configuration has been exemplified in which an imaging device 38 is mounted and the moving head 34 is moved relatively and parallel to the mounting surface 32a of the stage 32, the configuration is not limited to this.

For example, "movement" may be non-parallel movement, ie, movement such that the interval (distance) between the moving head 34 and the mounting surface 32a of the stage 32 changes. In such a case, for example, when imaging the line light LL irradiated onto the mounting surface 32a by the line light imaging device 38, the interval (distance) between the mounting surface 32a at the imaging location and the line light imaging device 38 is also obtained by some means. Then, the obtained interval (distance) is used as correction data when calculating the height distribution on the mounting surface 32a of the stage 32 based on the shape of each of the plurality of imaged line lights LL.

Further, for example, the method is not limited to parallel/non-parallel, and may be a method that does not involve movement. Specifically, the line light irradiation device 36 and/or the line light imaging device 38 are fixed, and by controlling only the fixed angle, for example, the position of the line light LL on the mounting surface 32a is moved (scanning). ) or, if necessary, change the imaging position of the line light imaging device 38 by following the movement (scanning) of the line light LL. Even in such a case, the conditions at the time of imaging, etc. are acquired as appropriate and used as correction data when calculating the height distribution on the mounting surface 32a of the stage 32 based on the shape of each of the plurality of imaged line lights. Just use it.

Further, for example, in the case of the above-described embodiment, the component to be transported has a cylindrical shape with a bottom as shown in FIG. It can also be applied to parts.

Further, for example, in the case of the above-described embodiment, the transport device that picks and transports the parts is an articulated robot equipped with an end effector that sucks and holds the parts, but the embodiments of the present disclosure are not limited to this. The form of the transport device is not limited to an articulated robot as long as it can pick and transport parts placed on a stage.

That is, in a broad sense, a component conveyance system according to an embodiment of the present disclosure includes a stage having a mounting surface on which a plurality of components are mounted, and a component transport system that includes a stage having a mounting surface on which a plurality of components are mounted, and The device includes an imaging system that images a component, and a component detection unit that detects the position and orientation of the component on the mounting surface of the stage based on image information obtained by the imaging system.

Further, in a broad sense, a parts supply system according to another embodiment of the present disclosure includes a parts supply device according to another aspect of the present disclosure, and a transport device that picks and transports parts.

The present disclosure is applicable to parts transport using a transport device such as a transport robot that picks and transports parts.

Claims (9)

a stage having a mounting surface on which a plurality of parts are mounted;
an imaging system that images the component from diagonally above the mounting surface of the stage;
a component detection unit that detects the position and orientation of the component on the mounting surface of the stage based on image information obtained by the imaging system;
a moving head on which the imaging system is mounted;
The imaging system includes:
irradiating a line of light extending in a direction intersecting the diagonally upward direction from the movable head toward the mounting surface of the stage and at a first angle that is acute with respect to the mounting surface of the stage; A line light irradiation device,
a line light imaging device that images the line light on the mounting surface of the stage from the moving head toward the mounting surface of the stage and at a second acute angle with respect to the mounting surface of the stage;
Equipped with
The image information is
Scanning the line light irradiated by the line light irradiation device with respect to the placement surface,
Each of the plurality of line lights resulting from this scanning is imaged by the line light imaging device,
A height distribution on the mounting surface of the stage calculated based on the shape of each of the plurality of imaged line lights,
A component supply device , wherein the moving head moves in a direction intersecting a direction in which the line light extends, relative to and parallel to the mounting surface of the stage .
further comprising a storage unit that stores part shape data indicating a three-dimensional shape of the part,
The component supply device according to claim 1 , wherein the component detection unit detects the position and orientation of the component on the placement surface based on the height distribution and the component shape data.
Based on the height distribution and the shape information of the component, calculate the area of the area within the mounting surface of the stage where the component exists, and based on the calculated area and the size of the component, calculate the area as described above. The parts supply device according to claim 1 or 2 , further comprising a parts number estimation section that estimates the number of parts on the placement surface.
The component supply device according to any one of claims 1 to 3 , further comprising a stage swing device that swings the stage.
5. The component supply device according to any one of 1 to 4 , wherein the component has a cylindrical shape with a bottom.
The component supply device according to claim 5 , wherein the mounting surface of the stage includes a plurality of grooves extending in the moving direction of the moving head and engaging with a portion of the outer circumferential surface of the component.
further comprising a moving head drive device that causes the moving head to linearly approach or move away from the stage;
The moving head drive device includes:
servo motor and
a first link arm whose one end is connected to the servo motor;
7. A second link arm having one end connected to the other end of the first link arm and a second link arm having the other end connected to the moving head. Parts supply device.
Each time the moving head moves by a certain amount of movement, the line light imaging device detects a rotation angle of the servo motor and a nonlinear relationship between the rotation angle and the position of the moving head determined in advance. 8. The component supply device according to claim 7 , wherein the line light is imaged.
The parts supply device according to any one of claims 1 to 8 ,
A transport device that picks and transports parts,
A parts transport system equipped with

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